werobot/ftc2024-robotcode
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GZod01 2024-02-11 15:10:49 +01:00
parent 6d2ed0fb44
commit 2c42078e53
2 changed files with 214 additions and 213 deletions
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2
ftc2024-autonome.java
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@ -73,7 +73,7 @@ public class ftc2024_autonome extends LinearOpMode {
double x = vec[0]; double x = vec[0];
double y = vec[1]; double y = vec[1];
double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2)); double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2));
double time = time_for_dist(speed, time); double time = time_for_dist(speed, total_dist);
double a = (-y+x)/Math.pow(2,1/2); double a = (-y+x)/Math.pow(2,1/2);
double b = (-y-x)/Math.pow(2,1/2); double b = (-y-x)/Math.pow(2,1/2);
double vmean = (Math.abs(a)+Math.abs(b))/2; double vmean = (Math.abs(a)+Math.abs(b))/2;

7
ftc2024-carlike.java
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@ -1,6 +1,7 @@
package org.firstinspires.ftc.teamcode; package org.firstinspires.ftc.teamcode;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
import com.qualcomm.robotcore.robot.Robot; import com.qualcomm.robotcore.robot.Robot;
import org.firstinspires.ftc.robotcore.external.Telemetry; import org.firstinspires.ftc.robotcore.external.Telemetry;
import com.qualcomm.robotcore.hardware.Gamepad; import com.qualcomm.robotcore.hardware.Gamepad;
@ -45,7 +46,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
telemetry.update(); telemetry.update();
lm = hardwareMap.get(DcMotor.class, "blm"); lm = hardwareMap.get(DcMotor.class, "blm");
rm = hardwareMap.get(DcMotor.class, "brm"); rm = hardwareMap.get(DcMotor.class, "brm");
moissoneuse = hardwareMap.get(DCMotor.class, "flm"); moissoneuse = hardwareMap.get(DcMotor.class, "flm");
imu = hardwareMap.get(IMU.class, "imu"); imu = hardwareMap.get(IMU.class, "imu");
@ -132,7 +133,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
if(gamepad1.b && !already_b){ if(gamepad1.b && !already_b){
already_b = !already_b; already_b = !already_b;
if(moissoneuse.getPowerFloat == (float) 1){ if(moissoneuse.getPower() == 1.0){
moissoneuse.setPower(0); moissoneuse.setPower(0);
}else{ }else{
moissoneuse.setPower(1); moissoneuse.setPower(1);
@ -143,7 +144,7 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
} }
if(gamepad1.a && !already_a){ if(gamepad1.a && !already_a){
already_a = !already_a; already_a = !already_a;
if(moissoneuse.getPowerFloat == (float) -1){ if(moissoneuse.getPower() == -1.0){
moissoneuse.setPower(0); moissoneuse.setPower(0);
}else{ }else{
moissoneuse.setPower(-1); moissoneuse.setPower(-1);